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6 Powerlink Communication
State
NMT_CS_NOT_ACTIVE
NMT_CS_PRE_OPERATIONAL_1 (*)
NMT_CS_PRE_OPERATIONAL_2
6-8
Description
NMT_CS_NOT_ACTIVE is a non-permanent state, which
is present by the CN automatically after POWER ON, if the
initialization phase could be executed error free.
The CN is passive (listen only), observes the network traffic, does not send any frames and is waiting for MN commands. The node is able to recognize NMTReset
commands sent via ASnd. The transition from
NMT_CS_NOT_ACTIVE to
NMT_CS_PRE_OPERATIONAL_1 is triggered by a SoA
or SoC frame.
The transition from NMT_CS_NOT_ACTIVE to
NMT_CS_BASIC_ETHERNET is triggered by timeout for
SoC, PReq, PRes and SoA frames.
The CN sends a frame only if the MN has authorized it to
do so by a SoA AsyncInvite command, there is no PDO
communication.
First the connected CNs is identified. This is performed
with an IdentRequest message of the MN and is acknowledged by an IdentResponse message of the CNs. If
required the CN shall download its configuration data from
a configuration server. Both processes may be completely
or partially shifted to NMT_CS_PRE_OPERATIONAL_2,
if the MN is not in NMT_MS_PRE_OPERATIONAL_1
respectively leaves NMT_MS_PRE_OPERATIONAL_1
before the CN has completed its configuration.The transition from NMT_CS_PRE_OPERATIONAL_1 to
NMT_CS_PRE_OPERATIONAL_2 is triggered by a SoC
frame.
In this state the CN-configuration is completely finished.
The node is queried by the MN via PReq. The received
PDO data may be invalid and may differ to the PDO mapping requirements. The PDO data received from the MN
via PReq and from other CNs and the MN via PRes are
ignored by the CN. The transmitted PRes frames may differ to the PDO mapping requirements. The data are
declared invalid by not setting the RD flag. There is no processing of the process data.
The CN responds to AsyncInvite commands via SoA. If not
invited by the MN, there is no Ethernet frame transmission
in this state.
Precondition for the transition from
NMT_CS_PRE_OPERATIONAL_2 to
NMT_CS_READY_TO_OPERATE is the reception of an
NMTEnableReadyToOperate command. The transition is
triggered by the MN if the application is ready for operation.
The transition from NMT_CS_PRE_OPERATIONAL_2 to
NMT_CS_PRE_OPERATIONAL_1 is triggered if an error
is detected.
The transition from NMT_CS_PRE_OPERATIONAL_2 to
NMT_CS_STOPPED is triggered by reception of NMT
state command NMTStopNode.